ROS on Android Phone

Finaly done with ROS(Robotic Operating System) on android 

It was my 1 day work for getting an output from android to ROS Server .I will explain the procedure that i have done

Prerequisites:

1)android-sdk for linux -Refer the following site for manually download android component .Othervice you have to setup eclipse for doing it

http://www.hariadi.org/android/manual-download-of-android-sdk-components/

2)platform-tools-This is the most required thing in this installation operation

http://www.hariadi.org/android/manually-download-of-android-sdk-tools-and-sdk-platform-tools/

Procedure:

1)Download android stack from ROS website

http://ros.org/wiki/android

2)There is a README file in this stack describing the installation procedure .But there will some error when you follow it 

Note :The error i got the installation operation is with adb 

Starting of adb is like follows

#./adb kill-server

#./adb start-server

#./adb devices

It will print if the device is connected

#./adb shell 

Set the Link path of python from README file 

Change the link path according to your android path .Othervice it will show error

It is better to install Pythonforandroid and sl4a manually .

Set the adb path in .bashrc file on home folder

eg :export ADB=~/android-sdk/platform-tools/adb

After installation using make install command

You have to enter 

$make cv_module

$make ros_sample 

After that you have to take pythonforandroid and press importmodule option

It will show cv.egg ,select and install it 

Connect android phone and computer though a wifi network ,preferably through a router . 

Take ros.py from sl4a script folder .Run it

It will ask for ROS_MASTER_URI ,for URI you have to note the IP of computer which running roscore .For eg:My system IP was 192.168.1.2 So theURI is 

eg : ROS_MASTER_URI=http://192.168.1.2:11311

URI=http://IP:11311

Note:i have some issues in importing cv .So i commented the cvsection and working only on accelerometer ,vibrate ,speak functions

Here is the edited ros.py

#

#  ROS on Android

#  Sample ROS node

# 

#  Copyright (c) 2011 Technische Universitaet Muenchen,

#  Distributed Multimodal Information Processing Group

#  http://vmi.lmt.ei.tum.de

#

#

from ros_android import *

import time

# load needed ROS packages

import roslib

import rospy

from std_msgs.msg import String

from std_msgs.msg import Int16

from sensor_msgs.msg import Image

#from cv_bridge import CvBridge, CvBridgeError

#import cv

# callback for /mobile/say

def cb_say(data):

rospy.loginfo("I should say: %s", data.data)

droid.makeToast(data.data)

droid.ttsSpeak(data.data)

# callback for /mobile/vibrate

def cb_vibrate(data):

droid.vibrate(data.data)

def main():

print "main()"

cam = CamHandler()

pub = rospy.Publisher('/mobile/acceleration', String)

rospy.init_node('android')

rospy.Subscriber('/mobile/say', String, cb_say)

rospy.Subscriber('/mobile/vibrate', Int16, cb_vibrate)

# start sensor polling in background

droid.startSensing()

while not rospy.is_shutdown():

# read the accelerometer and store result

acc = droid.sensorsReadAccelerometer().result

# if new sensor values have arrived, output them

if isinstance(acc[0], float):

# acc_str = "%s - Acc: %f %f %f" % (rospy.get_time(), acc[0], acc[1], acc[2])

acc_str = "X:%f Y:%f Z:%f" % (acc[0], acc[1], acc[2])

else:

# acc_str = "Time: %s - No acc. values" % rospy.get_time()

acc_str = "No values."

rospy.loginfo(acc_str)

pub.publish(String(acc_str))

rospy.sleep(1.0)

# start-up main

main()

Here is the output

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